Systems and methods for automated control of a beam stageloader bootend

ABSTRACT

Automated control of a longwall stageloader bootend using a plurality of sensors. The sensors include lift sensors, side shift sensors, advance sensors, angle sensors, and conveyor belt sensors. Signals from the plurality of sensors are received by a controller and used to control the operation of the bootend. Controlling the operation of the bootend includes controlling, for example, one or more lift actuators, one or more side shift actuators, one or more advance actuators, and one or more belt actuators. These various actuators can be controlled to, for example, advance the bootend, level the bootend, or match the interfaces between the bootend and a stageloader or a conveyor structure. By automating the operation of the bootend, the need for human positioning control is reduced and the safety of operators is improved.

RELATED APPLICATIONS

This application claims priority to U.S. provisional patent applicationNo. 62/792,164, filed Jan. 14, 2019, the entire content of which ishereby incorporated by reference.

FIELD

Embodiments described herein relate to a beam stageloader bootend of alongwall mining system.

SUMMARY

A bootend of a longwall mining beam stageloader is conventionallystatically positioned (i.e., left in its original place). However,adjustments to the bootend may be desirable over time (e.g., asregularly as on an hourly basis). Adjustments to the bootend can be usedto ensure that (1) mineral from the stageloader is loaded uniformly ontothe interfacing conveyor belt (and without spillage), and (2) thebootend interfaces with the conveyor structure so the conveyor is notunduly stressed.

However, operation and position adjustment of the bootend conventionallyrequires manual operation by an operator. Manually maneuvering a bootendincludes direct activation of hydraulic spool valves or pushbuttoncontrols of hydraulic cylinders (e.g., solenoid operated valves). Theoperator must also control the bootend based on his/her interpretationof the bootend's position. Such subjectivity promotes excess wear/stresson the conveyor and associated components, mineral spillage, and putspersonnel at risk of physical harm. Potential physical harms can includeinjection injury or striking risk from stored hydraulic energy, crushingor entrapment risk from moving heavy equipment, and respiratory exposurerisk from dust.

Embodiments described herein relate to the automated control of alongwall mining beam stageloader bootend based on signals from aplurality of sensors. The signals from the plurality of sensors are usedby a controller to control the bootend. By automating the operation ofthe bootend, the need for human positioning control is reduced andoperator safety is improved. Automated operation of the bootend alsoprovides additional advantages over conventional, manually-operatedbootends. For example, an automated bootend enables the ability to: (1)“train” mineral onto the bootend (e.g., to further reduce mineralspillage); (2) match conveyor belt trajectory and adjust for belt drift;(3) navigate deviations in the floor/ground to ensure levelness; (4)match angles and profiles of interfacing equipment (e.g., the bootendcould be set at a correct pitch angle and height to match the conveyorstructure while also matching the projection of mineral from thelongwall stageloader); (5) reduce wear on components and increaseconveyor belt life; and (6) use lift cylinder pressures to determine andevenly distribute floor pressure at each bootend foot.

Embodiments described herein provide a beam stageloader bootend thatincludes at least one lift actuator configured to raise or lower aportion of the bootend, a lift sensor, an angle sensor, and acontroller. The lift sensor is associated with the at least one liftactuator. The lift sensor is configured to generate a lift sensor outputsignal related to a position of the at least one lift actuator. Theangle sensor is configured to generate an angle sensor output signalrelated to an angle of the bootend. The controller is connected to thelift sensor, the angle sensor, and the at least one lift actuator. Thecontroller includes a non-transitory computer readable medium and aprocessor. The controller includes computer executable instructionsstored in the computer readable medium for controlling operation of thebootend to receive the lift sensor output signal, receive the anglesensor output signal, determine a longitudinal position of the bootendand an axial position of the bootend based on the lift sensor outputsignal and the angle sensor output signal, and generate a control signalfor the at least one lift actuator to adjust the position of the atleast one lift actuator when the longitudinal position of the bootend orthe axial position of the bootend indicates that the bootend is notlevel.

Embodiments described herein provide a computer-implemented method forcontrolling a beam stageloader bootend. The bootend includes at leastone lift actuator, a lift sensor, and an angle sensor. The methodincludes receiving a lift sensor output signal from the lift sensor. Thelift sensor output signal is related to a position of the at least onelift actuator. The method also includes receiving an angle sensor outputsignal from the angle sensor. The angle sensor output signal is relatedto an angle of the bootend. The method also includes determining alongitudinal position of the bootend and an axial position of thebootend based on the lift sensor output signal and the angle sensoroutput signal, and generating a control signal for the at least one liftactuator to adjust the position of the at least one lift actuator whenthe longitudinal position of the bootend or the axial position of thebootend indicates that the bootend is not level.

Embodiments described herein provide a controller for controlling a beamstageloader bootend. The controller includes a non-transitory computerreadable medium and a processor. The controller includes computerexecutable instructions stored in the computer readable medium forcontrolling operation of the bootend to receive a lift sensor outputsignal from a lift sensor, receive an angle sensor output signal from anangle sensor, determine a longitudinal position of the bootend and anaxial position of the bootend based on the lift sensor output signal andthe angle sensor output signal, and generate a control signal for atleast one lift actuator to adjust the position of the at least one liftactuator when the longitudinal position of the bootend or the axialposition of the bootend indicates that the bootend is not level. Thelift sensor output signal is related to a position of the at least onelift actuator. The angle sensor output signal is related to an angle ofthe bootend.

Before any embodiments are explained in detail, it is to be understoodthat the embodiments are not limited in its application to the detailsof the configuration and arrangement of components set forth in thefollowing description or illustrated in the accompanying drawings. Theembodiments are capable of being practiced or of being carried out invarious ways. Also, it is to be understood that the phraseology andterminology used herein are for the purpose of description and shouldnot be regarded as limiting. The use of “including,” “comprising,” or“having” and variations thereof are meant to encompass the items listedthereafter and equivalents thereof as well as additional items. Unlessspecified or limited otherwise, the terms “mounted,” “connected,”“supported,” and “coupled” and variations thereof are used broadly andencompass both direct and indirect mountings, connections, supports, andcouplings.

In addition, it should be understood that embodiments may includehardware, software, and electronic components or modules that, forpurposes of discussion, may be illustrated and described as if themajority of the components were implemented solely in hardware. However,one of ordinary skill in the art, and based on a reading of thisdetailed description, would recognize that, in at least one embodiment,the electronic-based aspects may be implemented in software (e.g.,stored on non-transitory computer-readable medium) executable by one ormore processing units, such as a microprocessor and/or applicationspecific integrated circuits (“ASICs”). As such, it should be noted thata plurality of hardware and software based devices, as well as aplurality of different structural components, may be utilized toimplement the embodiments. For example, “servers” and “computingdevices” described in the specification can include one or moreprocessing units, one or more computer-readable medium modules, one ormore input/output interfaces, and various connections (e.g., a systembus) connecting the components.

Other aspects of the embodiments will become apparent by considerationof the detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1 and 2 illustrate a longwall mining system, according toembodiments described herein.

FIG. 3 illustrates interfaces of a stageloader, a bootend, and aconveyor, according to embodiments described herein.

FIG. 4 is a diagram of bootend positioning functions, according toembodiments described herein.

FIG. 5 is a diagram illustrating bootend pitch and roll, according toembodiments described herein.

FIG. 6 is a free-body diagram of pitch and roll for a bootend, accordingto embodiments described herein.

FIGS. 7 and 8 are free-body diagrams of yaw for a bootend, according toembodiments described herein.

FIGS. 9A, 9B, and 9C illustrate automated control of bootend advance.

FIG. 10 illustrates a bootend, according to embodiments describedherein.

FIGS. 11 and 12 illustrate a lift cylinder linear transducer, accordingto embodiments described herein.

FIGS. 13 and 14 illustrate a side shift cylinder linear transducer,according to embodiments described herein.

FIGS. 15 and 16 illustrate an angle sensor, according to embodimentsdescribed herein.

FIGS. 17 and 18 illustrate belt sensors, according to embodimentsdescribed herein.

FIG. 19 illustrates a controller for the bootend of FIG. 10, accordingto embodiments described herein.

FIG. 20 is a process for controlling the bootend of FIG. 10, accordingto embodiments described herein.

DETAILED DESCRIPTION

FIG. 1 illustrates a longwall mining system 100. The longwall miningsystem 100 includes roof supports 105 and a shearer 110. The roofsupports 105 are interconnected parallel to a material face (not shown)by electrical and hydraulic connections. The roof supports 105 shieldthe shearer 110 from the overlying geological strata. The number of roofsupports 105 used in the longwall mining system 100 depends on the widthof the material face being mined since the roof supports 105 areintended to protect the full width of the material face from the strata.The shearer 110 is propagated along the line of the material face by anarmored face conveyor (“AFC”) 115, which has a dedicated rack bar forthe shearer 110 running parallel to the material face between the faceitself and the roof supports 105. The AFC 115 also includes a conveyorparallel to the shearer rack bar, such that excavated material can fallonto the conveyor to be transported away from the face. The conveyor andrack bar of the AFC 115 are driven by AFC drives 120 located at amaingate 125 and a tailgate 130, which are at distal ends of the AFC115. The AFC drives 120 allow the AFC 115 to continuously transport coaltoward the maingate 125 (left side of FIG. 1), and allows the shearer110 to be hauled along the rack bar of the AFC 115 bi-directionallyacross the material face. In some embodiments, depending upon thespecific mine layout, the layout of the longwall mining system 100 canbe different than described above. For example, the maingate 125 can beon the right distal end of the AFC 115 and the tailgate 130 can be onthe left distal end of the AFC 115.

The longwall mining system 100 also includes a beam stageloader (“BSL”)135 arranged perpendicularly at the maingate 125 of the AFC 115. FIG. 2illustrates a perspective view of the longwall mining system 100 and anexpanded view of the BSL 135. When the won material hauled by the AFC115 reaches the maingate 125, it is routed through a 90° turn onto theBSL 135. In some embodiments, the BSL 135 interfaces with the AFC 115 atan oblique angle (e.g., a non-right angle). The BSL 135 then preparesand loads the material onto a maingate conveyor (see FIG. 3), whichtransports the material to the surface. The material is prepared to beloaded by crusher or sizer 140, which breaks down the material toimprove loading onto the maingate conveyor. The BSL 135's conveyor isdriven by a BSL drive 145. A bootend 150 is positioned between BSL 135and the and the maingate conveyor. The bootend 150 includes liftcylinders 155 (e.g., bootend feet), advance cylinders 160, and sideshift cylinders 165.

FIG. 3 illustrates an interface between the BSL 135 and the bootend 150,and an interface between the bootend 150 and a conveyor structureincluding a conveyor belt (e.g., a maingate conveyor).

FIG. 4 illustrates positioning functions for the bootend 150. Thebootend 150 utilizes several functions to control its positioning. Thefunctions include a lift function, a side shift function, and an advancefunction. The bootend 150 can be raised or lowered to achieve crossleveling (e.g., by lift cylinders 155). The lift function utilizes thelift cylinders 155 in each corner of the bootend 150 (e.g., four liftcylinders 155) to control height or to compensate for floor/grounddeviations. The bootend 150 can be advanced (e.g., by advance cylinders160). The advance function utilizes the advance cylinders 160 toposition the bootend 150 longitudinally with respect to the BSL 135 (towhich it is mechanically connected) and the interface with the conveyorstructure (e.g., the maingate conveyor). The bootend 150 can be sideshifted (e.g., laterally moved by side shift cylinders 165). The sideshift function utilizes the side shift cylinders 165 to position thebootend 150 axially or laterally (i.e., from side-to-side). In someembodiments, positioning of the bootend 150 can also be controlled inrelation to the bootend 150's spatial awareness in a roadway withrespect to a predefined position (e.g., roadway centerline).

FIG. 5 illustrates pitch and roll parameters in a three-dimensionalspace for the bootend 150. Sensor data can be used to profile theoperation of the bootend 150 in the three-dimensional space to determinepitch and roll. Pitch corresponds to longitudinal position (commonlyreferred to as inbye-to-outbye). Roll corresponds to axial or lateralposition (commonly referred to as walkside-to-blockside).

FIG. 6 illustrates a free-body diagram of the bootend 150 that can beused to implement pitch and roll control, where OBS is outbye blockside,OWS is outbye walkside, IBS is inbye blockside, IWS is inbye walkside,OLH is outbye longitudinal height, ILH is inbye longitudinal height, BAHis blockside axial height, WAH is walkside axial height, 51 is thestroke measurement of the outbye walkside cylinder, S2 is the strokemeasurement of the outbye blockside cylinder, S3 is the strokemeasurement of the inbye walkside cylinder, S4 is the stroke measurementof the inbye blockside cylinder, θ1 is outbye axial angle, θ2 is inbyeaxial angle, θ3 is walkside longitudinal angle, and θ4 is blocksidelongitudinal angle.

A combination of angle sensors (e.g., inclinometers) and lineartransducers can be used to determine pitch and roll of the bootend 150.In some embodiments, angle sensor signals are compared against cylinderstroke position. For example, if the walkside of the bootend 150 is at200 mm extension and the blockside of the bootend 150 is at 400 mmextension, but the angle sensors read ±0.5°, the bootend 150 could beconsidered level. No changes to the bootend 150 would be requiredbecause the bootend 150 is compensating for localized grades. However,if the lift cylinders 155 were at the same strokes but the angle sensorsread 3.5° (or at different strokes but the inclinometers still showed3.5°), either the walkside or the blockside of the bootend 150 wouldhave to be changed to level the bootend 150. Similar analysis can beperformed with respect to pitch (i.e., inbye-to-outbye). However, pitch(or fore and aft) is typically dictated by the grade of the roadway andfurther inputs may need to be considered. For example, if the grade ofthe roadway is +2°, this could be set as a value for level and cylinderpositions could be compensated to achieve +2°. In some embodiments, thegrade of the roadway can be set as a reference point (e.g., for a deviceor sensor mounted on a conveyor belt structure). In some embodiments, atolerance can be set for determining when the bootend 150 is level(e.g., ±0.5°, ±1.0°, etc.).

In some embodiments, bootend foot pressures can be determined from thelift cylinders 155 (e.g., using a pressure sensor) and used to controlthe bootend 150. For example, determining bootend foot pressures can beuseful in poor floor conditions or with a damaged machine when it is notpermissible to have the bootend 150 on its belly (i.e., not raised offthe floor). The contact pressure at each bootend foot can also changeduring the BSL 135 advance sequence, so dynamically adjusting bootendfoot pressures will help to balance the bootend 150.

FIGS. 7 and 8 illustrates the yaw parameter for the bootend 150. Yawrelates to the clockwise/counterclockwise planar rotational positon(commonly referred to as tracking) of the bootend 150. Sensor data canbe used to implement yaw control for the bootend 150. The yaw controlgenerally corresponds to the ability to detect belt position relative toa predefined centerline or nominal value in relation to sensors or apredefined datum within a roadway. Adjustments to the bootend 150 arebased on measured belt position and an acceptable tolerance band orhysteresis. The bootend 150 can be repositioned such that the belt edgeor other datum falls within the acceptable limits. For example, if thenominal value of acceptance is a range between 300 mm-350 mm, anymeasurement outside of this range will cause a change in bootendposition to bring the belt or bootend 150 back within the range.

FIGS. 9A, 9B, and 9C illustrate advance control of the bootend 150. Thebootend advance cylinders 160 enable the bootend 150 to be automaticallyadvanced or retracted gradually to account for the changing position ofthe BSL 135 (e.g., when there is no more stroke available for theadvance cylinders 160). For example, the bootend 150 can be advanced asa function of the depth of cut by the shearer 110. As an illustrativeexample, if the shearer 110 depth of cut (i.e., drum web depth or sumpdepth) is 800 mm, the BSL 135 will push over 800 mm with each cycle ofthe shearer 110. If the advance cylinders 160 of the bootend have acylinder stroke of 2400 mm, the bootend 150 can be controlled toaccommodate three shearer cycles before the bootend 150 would need to bemoved. After the advance cylinders 160 have been fully extended, theadvance cylinders can be retracted to pull the bootend 150 forward andagain maximize overlap with the BSL 135. FIG. 9A illustrates the bootend150 with advance cylinders 160 fully retracted. As the BSL 135 isadvanced for each shearer cycle, the advance cylinders 160 are extended.FIG. 9B illustrates the bootend 150 with advance cylinders 160 fullyextended. When the advance cylinders 160 are fully extended, the bootend150 is pulled forward by retracting the advance cylinders 160. As thebootend 150 is pulled forward, the available overlap between the BSL 135and the bootend 150 is again maximized, as illustrated in FIG. 9C.Linear transducers are mounted next to the advance cylinders 160 orintegral to the advance cylinders 160 for generating signals related tothe amount of extension of the advance cylinders 160. If the advancecylinders are fully extended, the advance cylinders 160 can becontrolled to be retracted and pull the bootend 150 forward.

FIG. 10 illustrates the bootend 150 (e.g., as a bootend frame) includinga plurality of sensors. The sensors include lift cylinder lineartransducers 200, side shift cylinder linear transducers 300, anglesensors 400 (e.g., inclinometers) for tilt sensing, and belt sensors 500(e.g., ultrasonic sensors) for tracking the top and bottom runs of aconveyor belt (e.g., a lateral position of the conveyor belt withrespect to the bootend 150).

FIGS. 11 and 12 illustrate a lift cylinder linear transducer or liftsensor 200. The lift cylinder linear transducer 200 includes aprotective cover 205 for protecting the inner rod and cable/connectors.The lift cylinder linear transducer 200 has a resolution of, forexample, ±1 mm. The static section 210 of the lift cylinder lineartransducer 200 is fixed to the bootend. In some embodiments, the liftcylinder linear transducer 200 is integrated into a lift cylinder. Thebootend includes, for example, four lift cylinder linear transducers(e.g., one for each corner of the bootend).

FIGS. 13 and 14 illustrate a side shift linear transducer or side shiftsensor 300. The side shift linear transducer 300 can be mounted on thewalkside of the bootend 150. The side shift linear transducer 300 has aresolution of, for example, ±1 mm. In some embodiments, the side shiftlinear transducer 300 is integrated into a side shift cylinder.

FIGS. 15 and 16 illustrate an angle sensor (e.g., inclinometer) 400mounted on the bootend 150. The angle sensor 400 can be mounted in aposition on the bootend 150 where it is protected from the environmentand where accurate angle measurements can be taken.

FIGS. 17 and 18 illustrate sensors (e.g., ultrasonic sensors) 500 fordetecting conveyor belt position. The sensors 500 can be positioned inline with top and bottom runs of a conveyor belt.

A control system 600 for the bootend 150 includes a controller 605, asillustrated in FIG. 19. The controller 605 is electrically and/orcommunicatively connected to a variety of modules or components of thebootend 150. For example, the controller 605 is connected to a userinterface 610, a power supply module 615 (e.g., an AC power supplymodule receiving AC mains power), one or more lift actuators 620 (e.g.,hydraulic lift cylinders), one or more side shift actuators 625 (e.g.,hydraulic side shift cylinders), one or more belt actuators 630 (e.g., amotor), one or more advance actuators 635 (e.g., hydraulic advancecylinders), and one or more advance sensors 640 (e.g., lineartransducers). The controller 605 is also connected to the one or morelift sensors 200, the one or more side shift sensors 300, the one ormore angle sensors 400, and the one or more belt sensors 500. Thecontroller 605 includes combinations of hardware and software that areoperable to, among other things, control the operation of the bootend150, control the operation of the longwall mining system 100, etc.

In some embodiments, the controller 605 includes a plurality ofelectrical and electronic components that provide power, operationalcontrol, and protection to the components and modules within thecontroller 605, the bootend 150, and/or the longwall mining system 100.For example, the controller 605 includes, among other things, aprocessing unit 645 (e.g., a microprocessor, a microcontroller, oranother suitable programmable device), a memory 650, input units 655,and output units 660. The processing unit 645 includes, among otherthings, a control unit 665, an arithmetic logic unit (“ALU”) 670, and aplurality of registers 675 (shown as a group of registers in FIG. 19),and is implemented using a known computer architecture (e.g., a modifiedHarvard architecture, a von Neumann architecture, etc.). The processingunit 645, the memory 650, the input units 655, and the output units 660,as well as the various modules connected to the controller 605 areconnected by one or more control and/or data buses (e.g., common bus680). The control and/or data buses are shown generally in FIG. 19 forillustrative purposes. The use of one or more control and/or data busesfor the interconnection between and communication among the variousmodules and components would be known to a person skilled in the art inview of the invention described herein.

The memory 650 is a non-transitory computer readable medium andincludes, for example, a program storage area and a data storage area.The program storage area and the data storage area can includecombinations of different types of memory, such as a ROM, a RAM (e.g.,DRAM, SDRAM, etc.), EEPROM, flash memory, a hard disk, an SD card, orother suitable magnetic, optical, physical, or electronic memorydevices. The processing unit 645 is connected to the memory 650 andexecutes software instructions that are capable of being stored in a RAMof the memory 650 (e.g., during execution), a ROM of the memory 650(e.g., on a generally permanent basis), or another non-transitorycomputer readable medium such as another memory or a disc. Softwareincluded in the implementation of the longwall mining system 100 or thebootend 150 can be stored in the memory 650 of the controller 605. Thesoftware includes, for example, firmware, one or more applications,program data, filters, rules, one or more program modules, and otherexecutable instructions. The controller 605 is configured to retrievefrom the memory 650 and execute, among other things, instructionsrelated to the control processes and methods described herein. In otherconstructions, the controller 605 includes additional, fewer, ordifferent components.

The user interface 610 can be used to control and/or monitor the bootend150. For example, the user interface 610 is operably coupled to thecontroller 605 to control the advancing of the bootend 150, thecross-leveling of the bootend 150, the side shifting of the bootend 150,etc. The controller 605 is configured to receive input signals from theuser interface module 610. The user interface module 610 includes acombination of digital and analog input or output devices required toachieve a desired level of control and monitoring for the bootend 150.For example, the user interface module 610 includes a display (e.g., aprimary display, a secondary display, etc.) and input devices such astouch-screen displays, joysticks, a plurality of knobs, dials, switches,buttons, pedals, etc. The user interface module 610 can also beconfigured to display conditions or data associated with the bootend 150in real-time or substantially real-time. The controller 605 alsoreceives motion command signals from the user interface module 610. Themotion command signals are operable to control, for example, one or moreof the lift actuators 620, side shift actuators 625, belt actuators 630,and advance actuators 635.

The controller 605 is also configured to receive one or more signalsfrom each of the lift sensors 200, side shift sensors 300, angle sensors400, belt sensors 500, and advance sensors 640. Based on the one or moresignals received from the sensors, the controller 605 is configured toautomatically control one or more of the lift actuators 620, side shiftactuators 625, belt actuators 630, and advance actuators 635. Forexample, based on the one or more signals received from the sensors, thecontroller 605 is configured to generate one or more control signals forthe lift actuators 620, side shift actuators 625, belt actuators 630, oradvance actuators 635 to control the positioning of the bootend 150. Theactuators, 620, 625, 630, and 635 are used to control, for example,inbye-to-outbye positioning, walkside-to-blockside positioning, footpressures, advance, side shifting, and cross leveling of the bootend 150as described above.

FIG. 20 is a process 700 for automatically controlling the bootend 150.The process 700 begins with the controller 605 receiving a first sensoroutput signal (STEP 705). The first sensor output signal can be from anyof the lift sensors 200, side shift sensors 300, angle sensors 400, beltsensors 500, or advance sensors 640. The controller 605 then receives asecond sensor output signal (STEP 710). The second sensor output signalcan be from any of the lift sensors 200, side shift sensors 300, anglesensors 400, belt sensors 500, or advance sensors 640. In someembodiments, the first sensor output signal and the second sensor outputsignal are received from the same type of sensor. In other embodiments,the first sensor output signal and the second sensor output signal arereceived from different types of sensors. The controller 605 is thenconfigured to determine one or more characteristics of the bootend 150(STEP 715). The one or more characteristics of the bootend 150 include,for example, a longitudinal position of the bootend 150, an axial orlateral position of the bootend 150, a lateral position of the bootend150 with respect to a conveyor belt, a longitudinal position of thebootend 150 with respect to a conveyor belt, a pressure within a liftactuator, a lateral position of a conveyor belt, etc. Based on the oneor more characteristics of the bootend 150, the controller 605 isconfigured to generate one or more control signals to control thebootend 150 (STEP 720). The one or more control signals can be controlsignals for lift actuators 620, side shift actuators 625, belt actuators630, or advance actuators 635. The controller 605 then provides the oneor more control signals to the actuators to correspondingly control theoperation of the actuators (e.g., change a position of the actuators)(STEP 725).

Thus, embodiments described herein provide, among other things, systemsand methods for automated control of a stageloader bootend. Variousfeatures and advantages are set forth in the following claims.

What is claimed is:
 1. A beam stageloader bootend comprising: at leastone lift actuator configured to raise or lower a portion of the bootend;a lift sensor associated with the at least one lift actuator, the liftsensor configured to generate a lift sensor output signal related to aposition of the at least one lift actuator; an angle sensor configuredto generate an angle sensor output signal related to an angle of thebootend; and a controller connected to the lift sensor, the anglesensor, and the at least one lift actuator, the controller including anon-transitory computer readable medium and a processor, the controllerincluding computer executable instructions stored in the computerreadable medium for controlling operation of the bootend to: receive thelift sensor output signal, receive the angle sensor output signal,determine a longitudinal position of the bootend and an axial positionof the bootend based on the lift sensor output signal and the anglesensor output signal, and generate a control signal for the at least onelift actuator to adjust the position of the at least one lift actuatorwhen the longitudinal position of the bootend or the axial position ofthe bootend indicate that the bootend is not level.
 2. The bootend ofclaim 1, wherein the angle sensor is an inclinometer.
 3. The bootend ofclaim 1, further comprising: at least one side shift actuator configuredto laterally move the bootend with respect to a conveyor belt; and aside shift sensor configured to generate a side shift sensor outputsignal related to a lateral position of the bootend with respect to theconveyor belt, wherein the controller further includes computerexecutable instructions stored in the computer readable medium forcontrolling operation of the bootend to: receive the side shift sensoroutput signal, determine the lateral position of the bootend withrespect to the conveyor belt based on the side shift sensor outputsignal, and generate a control signal for the at least one side shiftactuator to adjust the position of the at least one side shift actuatorbased on the lateral position of the bootend with respect to theconveyor belt.
 4. The bootend of claim 3, further comprising: at leastone advance actuator configured to move the bootend longitudinally withrespect to the beam stageloader; and an advance sensor configured togenerate an advance sensor output signal related to a longitudinalposition of the bootend with respect to the beam stageloader, whereinthe controller further includes computer executable instructions storedin the computer readable medium for controlling operation of the bootendto: receive the advance sensor output signal, determine the longitudinalposition of the bootend with respect to the beam stageloader based onthe advance sensor output signal, and generate a control signal for theat least one advance actuator to adjust the position of the at least oneadvance actuator based on the longitudinal position of the bootend withrespect to the beam stageloader.
 5. The bootend of claim 4, furthercomprising a pressure sensor configured to output a pressure sensoroutput signal related to a pressure within the at least one liftactuator, wherein the controller further includes computer executableinstructions stored in the computer readable medium for controllingoperation of the bootend to: receive the pressure sensor output signal,determine the pressure within the at least one lift actuator based onthe pressure sensor output signal, and generate a control signal for theat least one lift actuator to adjust the pressure within the at leastone lift actuator based on the pressure within the at least one liftactuator.
 6. The bootend of claim 5, further comprising a belt sensorconfigured to output a belt sensor output signal related to a lateralposition of the conveyor belt with respect to the bootend, wherein thecontroller further includes computer executable instructions stored inthe computer readable medium for controlling operation of the bootendto: receive the belt sensor output signal, determine the lateralposition of the conveyor belt with respect to the bootend based on thebelt sensor output signal, and generate a control signal for the atleast one side shift actuator to adjust the position of the at least oneside shift actuator based on the lateral positon of the conveyor beltwith respect to the bootend.
 7. The bootend of claim 6, wherein the beltsensor is an ultrasonic sensor.
 8. The bootend of claim 1, wherein theat least one lift actuator includes a first lift actuator, a second liftactuator, a third lift actuator, and a fourth lift actuator.
 9. Thebootend of claim 8, wherein the first lift actuator, a second liftactuator, a third lift actuator, and a fourth lift actuator arehydraulic lift cylinders.
 10. A computer-implemented method forcontrolling a beam stageloader bootend, the bootend including at leastone lift actuator, a lift sensor, and an angle sensor, the methodcomprising: receiving a lift sensor output signal from the lift sensor,the lift sensor output signal related to a position of the at least onelift actuator; receiving an angle sensor output signal from the anglesensor, the angle sensor output signal related to an angle of thebootend; determining a longitudinal position of the bootend and an axialposition of the bootend based on the lift sensor output signal and theangle sensor output signal; and generating a control signal for the atleast one lift actuator to adjust the position of the at least one liftactuator when the longitudinal position of the bootend or the axialposition of the bootend indicate that the bootend is not level.
 11. Thecomputer-implemented method of claim 10, further comprising: receiving aside shift sensor output signal from a side shift sensor, the side shiftsensor output signal related to a lateral position of the bootend withrespect to the conveyor belt; determining the lateral position of thebootend with respect to the conveyor belt based on the side shift sensoroutput signal; and generating a control signal for at least one sideshift actuator to adjust the position of the at least one side shiftactuator based on the lateral position of the bootend with respect tothe conveyor belt.
 12. The computer-implemented method of claim 11,further comprising: receiving an advance sensor output signal from anadvance sensor, the advance sensor output signal related to thelongitudinal position of the bootend with respect to the beamstageloader; determining the longitudinal position of the bootend withrespect to the beam stageloader based on the advance sensor outputsignal; and generating a control signal for the at least one advanceactuator to adjust the position of the at least one advance actuatorbased on the longitudinal position of the bootend with respect to thebeam stageloader.
 13. The computer-implemented method of claim 12,further comprising: receiving a pressure sensor output signal from apressure sensor, the pressure sensor output signal related to a pressurewithin the at least one lift actuator; determining the pressure withinthe at least one lift actuator based on the pressure sensor outputsignal; and generating a control signal for the at least one liftactuator to adjust the pressure within the at least one lift actuatorbased on the pressure within the at least one lift actuator.
 14. Thecomputer-implemented method of claim 13, further comprising: receiving abelt sensor output signal from a belt sensor, the belt sensor outputsignal related to a lateral position of the conveyor belt with respectto the bootend; determining the lateral position of the conveyor beltwith respect to the bootend based on the belt sensor output signal; andgenerating a control signal for the at least one side shift actuator toadjust the position of the at least one side shift actuator based on thelateral position of the conveyor belt with respect to the bootend. 15.The computer-implemented method of claim 10, wherein: the at least onelift actuator includes first, second, third, and fourth lift actuators,and the first, second, third, and fourth lift actuators are hydrauliclift cylinders.
 16. A controller for controlling a beam stageloaderbootend, the controller including a non-transitory computer readablemedium and a processor, the controller including computer executableinstructions stored in the computer readable medium for controllingoperation of the bootend to: receive a lift sensor output signal from alift sensor, the lift sensor output signal related to a position of atleast one lift actuator; receive an angle sensor output signal from anangle sensor, the angle sensor output signal related to an angle of thebootend; determine a longitudinal position of the bootend and an axialposition of the bootend based on the lift sensor output signal and theangle sensor output signal; and generate a control signal for the atleast one lift actuator to adjust the position of the at least one liftactuator when the longitudinal position of the bootend or the axialposition of the bootend indicate that the bootend is not level.
 17. Thecontroller of claim 16, wherein the controller further includes computerexecutable instructions stored in the computer readable medium forcontrolling operation of the bootend to: receive a side shift sensoroutput signal from a side shift sensor, the side shift sensor outputsignal related to a lateral position of the bootend with respect to theconveyor belt; determine the lateral position of the bootend withrespect to the conveyor belt based on the side shift sensor outputsignal; and generate a control signal for at least one side shiftactuator to adjust the position of the at least one side shift actuatorbased on the lateral position of the bootend with respect to theconveyor belt.
 18. The controller of claim 17, wherein the controllerfurther includes computer executable instructions stored in the computerreadable medium for controlling operation of the bootend to: receive anadvance sensor output signal from an advance sensor, the advance sensoroutput signal related to the longitudinal position of the bootend withrespect to the beam stageloader; determine the longitudinal position ofthe bootend with respect to the beam stageloader based on the advancesensor output signal; and generate a control signal for the at least oneadvance actuator to adjust the position of the at least one advanceactuator based on the longitudinal position of the bootend with respectto the beam stageloader.
 19. The controller of claim 18, wherein thecontroller further includes computer executable instructions stored inthe computer readable medium for controlling operation of the bootendto: receive a pressure sensor output signal from a pressure sensor, thepressure sensor output signal related to a pressure within the at leastone lift actuator; determine the pressure within the at least one liftactuator based on the pressure sensor output signal; and generate acontrol signal for the at least one lift actuator to adjust the pressurewithin the at least one lift actuator based on the pressure within theat least one lift actuator.
 20. The controller of claim 19, wherein thecontroller further includes computer executable instructions stored inthe computer readable medium for controlling operation of the bootendto: receive a belt sensor output signal from a belt sensor, the beltsensor output signal related to a lateral position of the conveyor beltwith respect to the bootend; determine the lateral position of theconveyor belt with respect to the bootend based on the belt sensoroutput signal; and generate a control signal for the at least one sideshift actuator to adjust the position of the at least one side shiftactuator based on the lateral position of the conveyor belt with respectto the bootend.